CN113255130B - Method and system for evaluating control performance of wind generating set - Google Patents
Method and system for evaluating control performance of wind generating set Download PDFInfo
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Abstract
The invention provides a method and a system for evaluating control performance of a wind generating set, wherein control deviation and control cost are designated, control gains and even control performance under different control algorithm frames are evaluated by calculating control deviation evaluation indexes and control cost evaluation indexes, control gain parameters and iteration speed of the control algorithm frames are improved, and meanwhile, different control performances of different algorithm frames of different control gains are expressed more quickly and more directly through mapping of control deviation and control cost relations. The invention refers to the control deviation and the control cost, overcomes the defect that the relation between a certain control deviation and a certain control cost cannot be accurately described in the traditional mode without single mapping, and innovatively adopts the control deviation evaluation index and the control cost evaluation index to evaluate the control performance of different control gains and even different control algorithm frameworks, so that the internal relation of the control deviation and the control cost is better mapped, and the iteration efficiency is improved.
Description
Technical Field
The invention belongs to the field of wind power generation, and particularly relates to a method and a system for evaluating control performance of a wind generating set.
Background
In the design stage of the wind generating set, the load level of the whole machine plays a very important role, and the construction cost of most parts is directly determined. The overall design load of the wind generating set has a direct relation with the blade design and the response of the controller. The core control strategy of the wind generating set has different control targets under different wind speeds, and takes an area above the rated wind speed as an example, the core control task of the controller is to keep the actual rotating speed of the set to be as close to the rated rotating speed as possible under different wind conditions through variable pitch control. The existing rotating speed-pitch control loop generally adopts a classical PI/PID design, takes the difference between the actual rotating speed and the rated rotating speed as a control input, calculates a corresponding pitch angle instruction according to PI/PID parameters, and sends the pitch angle instruction to a pitch actuating mechanism to execute pitch action, and maintains the rotating speed of the wind driven generator at the rated rotating speed by absorbing/releasing wind energy. The PI/PID parameter design is generally realized by means of a classical control theory adjusting method, and then the PI/PID parameter design is subjected to full-working-condition calculation in load simulation calculation software to obtain the generated energy and the load level of the wind generating set. There is currently no set of evaluation methods for fast and accurate measurement of performance of a control system between control parameter adjustment and actual control effect.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a method and a system for evaluating the control performance of a wind generating set, which overcome the defect that the relation between a single control target and control cost cannot be accurately described because the single mapping is not carried out on the relation between a certain control deviation and a certain control cost in the traditional mode, and more quickly and directly show different control performances of different algorithm frameworks with different control gains.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: a method for evaluating control performance of a wind generating set uses control deviation e and control cost u as two-dimensional judgment standards to evaluate control performance P; the specific process is as follows:
confirming a control target;
setting a control gain k of the control target, performing simulation calculation on the load of the wind generating set by using the control gain k, taking the difference between the actual generator rotating speed and the rated generator rotating speed as a control deviation e, and performing fixed integration on the square of the control deviation e in a time period T with each control period T as an interval to obtainMeanwhile, the pitch angle is used as a control cost u, the square of the control cost u is calculated by taking each control period T as an interval and taking T as a time period to obtain +.>And get->Performing multiple groups of simulation calculation and simulation to obtain control performance P corresponding to different control parameters;
comparing the control deviation index and the control cost index under different control gains, obtaining a lower control deviation index by using the lower control cost index as a judging reference, and selecting the control gain as the control gain which is better under the current control target.
Setting the rotating speed of the generator at the rated rotating speed as a control target of variable pitch control, and setting three groups of simulation calculation and simulation specifically as follows:
inputting a first group of PI/PID parameters k1 into a rotating speed-pitch loop control loop, performing load simulation calculation of the wind generating set by using the parameters k1, performing simulation calculation within preset time, taking the difference between the actual generator rotating speed and the rated generator rotating speed as a control deviation e1 after the calculation is finished, and performing the control on the control deviation e1Square with each control period t as interval, and performing fixed integral calculation in preset time periodMeanwhile, the pitch angle is used as a control cost u1, the square of the control cost u1 is used as an interval of each control period t, and fixed integral calculation is carried out in a preset time period to obtain +.>
Inputting a second group of PI/PID parameters k2 into a rotating speed-pitch loop control loop, performing load simulation calculation of the wind generating set by using the parameters k2, performing calculation within a preset time, taking the difference between the actual generator rotating speed and the rated generator rotating speed as a control deviation e2 after the calculation is finished, and performing fixed integration calculation on the square of the control deviation e2 with each control period t as an interval, wherein the preset time period is obtainedMeanwhile, the pitch angle is used as a control cost u2, the square of the control cost u2 is used as an interval of each control period t, and fixed integral calculation is carried out in a preset time period to obtain +.>
Inputting a third group of PI/PID parameters k3 into a rotating speed-pitch loop control loop, performing load simulation calculation of the wind generating set by using the parameters k3, performing calculation within a preset time, taking the difference between the actual generator rotating speed and the rated generator rotating speed as a control deviation e3 after the calculation is finished, and performing fixed integration calculation on the square of the control deviation e3 with each control period t as an interval to obtainMeanwhile, the pitch angle is used as a control cost u, the square of the control cost u is used as an interval of each control period t, and fixed integral calculation is carried out in a preset time period to obtain +.>
And respectively obtaining the relation between the control deviation e and the control cost u corresponding to each group of control parameters, and selecting the final control parameters with the minimum control deviation and the minimum control cost.
The preset time is 10-20 minutes.
Taking the rotating speed deviation as a control deviation and taking the pitch angle, the torque cost or the yaw angle cost of the generator as a control cost;
or the blade root load deviation is used as the control deviation, the pitch amplitude is used as the control cost, or the power deviation is used as the control deviation, and the pitch amplitude is used as the control cost.
When the load of the wind generating set is calculated in a simulation mode, the principle of phyllin is adopted or 5-10 modes based on the tower are adopted for the simulation calculation.
The evaluation is based on a rotational speed-torque control loop or based on a blade root load-pitch control loop.
A system for evaluating control performance of a wind generating set comprises a control target selection module, a simulation calculation module and an evaluation judgment module;
the control target selection module is used for confirming a control target;
the simulation calculation module is used for setting a control gain k of the control target, performing simulation calculation on the load of the wind generating set by using the control gain k, taking the difference between the actual generator rotating speed and the rated generator rotating speed as a control deviation e, squaring the control deviation e with each control period T as an interval, and performing fixed integration in a T time period to obtainMeanwhile, the pitch angle is used as a control cost u, the square of the control cost u is calculated by taking each control period T as an interval and taking T as a time period to obtain +.>And get->Performing multiple groups of simulation calculation and simulation to obtain control performance P corresponding to different control parameters;
the evaluation judging module is used for comparing the control deviation index and the control cost index under different control gains, obtaining a lower control deviation index by using the lower control cost index as a judging reference, and selecting the control gain as the control gain which is better under the current control target.
The computer equipment comprises a processor and a memory, wherein the memory is used for storing a computer executable program, the processor reads part or all of the computer executable program from the memory and executes the computer executable program, and the method for evaluating the control performance of the wind generating set can be realized when the processor executes part or all of the computer executable program.
A computer readable storage medium, in which a computer program is stored which, when being executed by a processor, enables the method for controlling performance evaluation of a wind turbine generator set according to the invention to be implemented.
Compared with the prior art, the invention has at least the following beneficial effects:
the control deviation and the control cost are designated, the control performance quality under different control gains and even under different control algorithm frames is judged by calculating the control deviation evaluation index and the control cost evaluation index, the iteration speed of the control gain parameters and the control algorithm frames is improved, meanwhile, the different control performances of different algorithm frames of different control gains are more directly shown through mapping the control deviation and the control cost relation.
Drawings
FIG. 1 is a schematic flow chart of a method for evaluating control performance of a wind turbine generator system according to an embodiment of the present invention.
Fig. 2 is a performance evaluation result of a comparison (MIMO) control framework of a single input single output system (PI) and a multiple input multiple output system.
Detailed Description
The control inputs of the core control system of the wind generating set are typically rotational speed/nacelle acceleration/wind speed, etc., and the control outputs thereof are typically pitch angle and generator torque. The wind generating set controls the rotating speed of the generator at different wind speed sections through pitch angle control and torque control. The wind generating set is also subjected to different wind conditions, and under different wind conditions, each large part of the set can experience different bending moments. Bending moments of different components at different wind speeds can be effectively controlled through pitch angle control.
The present embodiment will be described with reference to a rotational speed-pitch control loop.
The control objective of the loop is to maintain the rotational speed of the wind driven generator at the rated rotational speed through pitch control, so that the control performance of the wind driven generator cannot be completely judged only by the control deviation, namely the difference between the actual rotational speed of the generator and the set rotational speed, and the control cost is introduced, and the control deviation and the control cost caused by the nonlinear in the load simulation process and the different control gains in the strong coupling and time-varying system are different, so that the control performance evaluation (P) is realized by taking the control deviation (e) and the control cost (u) as two-dimensional judgment standards, namely:
where k represents different control gains, T represents a control period, and T represents a time period.
The following shows a method description in a speed-pitch circuit.
The different control gains can be adjusted, a first group of PI/PID parameters (denoted as k 1) are input into a rotating speed-pitch loop control loop, the k1 parameters are used for carrying out load simulation calculation of the wind generating set, and the calculation time is 10 minutes. Calculation ofAfter the completion, taking the difference between the actual generator speed and the rated generator speed as a control deviation e, and carrying out fixed integral calculation on the square of the control deviation e with each control period t as an interval and 10 minutes as a time period to obtainMeanwhile, the pitch angle is used as a control cost u, the square of the control cost u is calculated by taking each control period t as an interval and taking 10 minutes as a time period to obtain +.>
And (3) inputting a second group of PI/PID parameters (denoted as k 2) into the rotating speed-pitch loop control loop, and carrying out load simulation calculation of the wind generating set by using the k2 parameters, wherein the calculated time is 10 minutes. After the calculation is finished, taking the difference between the actual generator rotating speed and the rated generator rotating speed as a control deviation e, and carrying out fixed integral calculation on the square of the control deviation e by taking each control period t as an interval and taking 10 minutes as a time period to obtainMeanwhile, the pitch angle is used as a control cost u, the square of the control cost u is calculated by taking each control period t as an interval and taking 10 minutes as a time period to obtain +.>
And inputting a third group of PI/PID parameters (denoted as k 3) into the rotating speed-pitch loop control loop, and carrying out load simulation calculation on the wind generating set by using the k3 parameters, wherein the calculation time is 10 minutes. After the calculation is finished, taking the difference between the actual generator rotating speed and the rated generator rotating speed as a control deviation e, and carrying out fixed integral calculation on the square of the control deviation e by taking each control period t as an interval and taking 10 minutes as a time period to obtainAt the same time, the pitch angle is used as the control cost u, and each control period t is taken as the square of the control cost uPerforming fixed integral calculation for 10 min to obtain +.>
On the abscissa ofThe ordinate is +.>And drawing a two-dimensional graph to obtain the relationship between the control deviation and the control cost. I.e. < ->Smaller and +.>The smaller is the evaluation standard, namely, the control parameter with the smallest control deviation and the smallest control cost is the optimal control parameter.
The method for evaluating the control performance of the wind generating set according to the embodiment of the invention is described in detail below with reference to the accompanying drawings.
S11, confirming a control target, taking a rotating speed-variable pitch control loop as an example, and selecting the rotating speed of a variable pitch control generator at a rated rotating speed as the control target.
And S12, setting a PI/PID control gain of a first group of rotating speed-pitch control loops as k1, and carrying out load simulation calculation with T as a time interval and T as a time period by taking the PI/PID control gain as a control parameter.
S13, selecting a control deviation, for example, in a rotating speed-variable pitch control loop, and selecting the difference between the actual generator rotating speed and the rated rotating speed as a control deviation e1.
S14, selecting a control cost, namely selecting a pitch angle as a control cost u1 in a rotating speed-pitch control loop.
S15, performing fixed integral calculation with T as a time interval and T as a time period on the control deviation e1 to obtain
S6, performing fixed integral calculation with T as a time interval and T as a time period on the control cost u1 to obtain
S21, setting a PI/PID control gain of a second group of rotating speed-variable pitch control loop as k2, and carrying out load simulation calculation with T as a time interval and T as a time period by taking the PI/PID control gain as a control parameter.
S22, selecting a control deviation, for example, in a rotating speed-variable pitch control loop, and selecting the difference between the actual generator rotating speed and the rated rotating speed as a control deviation e2.
S23, selecting a control cost, namely selecting a pitch angle as a control cost u2 in a rotating speed-pitch control loop.
S24, performing fixed integral calculation with T as a time interval and T as a time period on the control deviation e2 to obtain
S25, performing fixed integral calculation with T as a time interval and T as a time period on the control cost u2 to obtain
S31, setting a third group of rotating speed-pitch control loop PI/PID control gain as k3, and carrying out load simulation calculation with T as a time interval and T as a time period by taking the third group of rotating speed-pitch control loop PI/PID control gain as a control parameter.
S32, selecting a control deviation, for example, in a rotating speed-variable pitch control loop, and selecting the difference between the actual generator rotating speed and the rated rotating speed as a control deviation e3.
S33, selecting a control cost, such as selecting a pitch angle as a control cost u3 in a rotating speed-pitch control loop.
S34, performing fixed integral calculation with T as a time interval and T as a time period on the control deviation e3 to obtain
S35, performing fixed integral calculation with T as a time interval and T as a time period on the control cost u3 to obtain
And finally, comparing the control deviation indexes and the control cost indexes under the three groups of different control gains, obtaining a lower control deviation index by using the lower control cost index as a judging reference, and selecting the control gain as the control gain which is better under the current control target.
The invention designs a method for evaluating the control performance of the wind generating set, so that the relation between the control deviation and the control cost of different control parameters and different control algorithm frames can be rapidly evaluated, and the control performance is evaluated by creatively adopting a two-dimensional evaluation method for the control deviation and the control cost, thereby rapidly and accurately formulating better control parameters and control algorithm frames for developing a control system. The invention evaluates the control performance under three sets of different control gains, can evaluate the same control deviation and cost under three different control algorithm frameworks, and can be applied to the performance evaluation of the control framework, such as the comparison (MIMO) of a single-input single-output system (PI) and a multiple-input multiple-output system, as shown in fig. 2.
The invention provides a system for evaluating control performance of a wind generating set, which comprises a control target selection module, a simulation calculation module and an evaluation judgment module;
the control target selection module is used for confirming a control target;
the simulation calculation module is used for setting a control gain k of the control target, performing simulation calculation on the load of the wind generating set by using the control gain k, taking the difference between the actual generator rotating speed and the rated generator rotating speed as a control deviation e, squaring the control deviation e with each control period T as an interval, and performing fixed integration in a T time period to obtainMeanwhile, the pitch angle is used as a control cost u, the square of the control cost u is calculated by taking each control period T as an interval and taking T as a time period to obtain +.>And get->Performing multiple groups of simulation calculation and simulation to obtain control performance P corresponding to different control parameters;
the evaluation judging module is used for comparing the control deviation index and the control cost index under different control gains, obtaining a lower control deviation index by using the lower control cost index as a judging reference, and selecting the control gain as the control gain which is better under the current control target.
The invention also provides computer equipment, which comprises a processor and a memory, wherein the memory is used for storing computer executable programs, the processor reads part or all of the computer executable programs from the memory and executes the computer executable programs, and the method for evaluating the control performance of the wind generating set can be realized when the processor executes part or all of the computer executable programs.
In another aspect, the present invention provides a computer readable storage medium, where a computer program is stored, where the computer program, when executed by a processor, can implement the method for evaluating control performance of a wind turbine generator set according to the present invention.
The computer device may be an in-vehicle computer, a notebook computer, a tablet computer, a desktop computer, a cell phone, or a workstation.
The processor may be a Central Processing Unit (CPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), or an off-the-shelf programmable gate array (FPGA).
The memory can be an internal memory unit of a vehicle-mounted computer, a notebook computer, a tablet computer, a desktop computer, a mobile phone or a workstation, such as a memory and a hard disk; external storage units such as removable hard disks, flash memory cards may also be used.
Computer readable storage media may include computer storage media and communication media. Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. The computer readable storage medium may include: read Only Memory (ROM), random access Memory (RAM, random Access Memory), solid state disk (SSD, solid State Drives), or optical disk, etc. The random access memory may include resistive random access memory (ReRAM, resistance Random Access Memory) and dynamic random access memory (DRAM, dynamic Random Access Memory), among others.
Claims (8)
1. The method for evaluating the control performance of the wind generating set is characterized in that the control performance P is evaluated by taking the control deviation e and the control cost u as two-dimensional judgment standards; the specific process is as follows:
confirming a control target;
setting a control gain k of the control target, performing simulation calculation on the load of the wind generating set by using the control gain k, taking the difference between the actual generator rotating speed and the rated generator rotating speed as a control deviation e, and performing fixed integration on the square of the control deviation e in a time period T with each control period T as an interval to obtainMeanwhile, the pitch angle is used as a control cost u, the square of the control cost u is calculated by taking each control period T as an interval and taking T as a time period to obtain +.>And then obtainPerforming multiple groups of simulation calculation and simulation to obtain control performance P corresponding to different control parameters;
comparing the control deviation index and the control cost index under different control gains, obtaining a lower control deviation index by using the lower control cost index as a judging reference, and selecting the control gain as the control gain which is better under the current control target;
taking the rotating speed deviation as a control deviation and taking the pitch angle, the torque cost or the yaw angle cost of the generator as a control cost;
or the blade root load deviation is used as the control deviation, the pitch amplitude is used as the control cost, or the power deviation is used as the control deviation, and the pitch amplitude is used as the control cost.
2. A method for controlling performance evaluation of a wind turbine generator set according to claim 1,
setting the rotating speed of the generator at the rated rotating speed as a control target of variable pitch control, and setting three groups of simulation calculation and simulation specifically as follows:
inputting a first group of PI/PID parameters k1 into a rotating speed-pitch loop control loop, performing load simulation calculation of a wind generating set by using the parameters k1, performing simulation calculation within a preset time, taking the difference between the actual generator rotating speed and the rated generator rotating speed as a control deviation e1 after the calculation is finished, and performing fixed integration calculation on the square of the control deviation e1 with each control period t as an interval, wherein the preset time period is obtainedMeanwhile, the pitch angle is used as a control cost u1, the square of the control cost u1 is used as an interval of each control period t, and fixed integral calculation is carried out in a preset time period to obtain +.>
Inputting a second group of PI/PID parameters k2 into a rotating speed-pitch loop control loop, performing load simulation calculation of the wind generating set by using the parameters k2, and counting within a preset timeAfter the calculation, taking the difference between the actual generator rotating speed and the rated generator rotating speed as a control deviation e2, and carrying out fixed integration calculation on the square of the control deviation e2 by taking each control period t as an interval, wherein the preset time period is obtainedMeanwhile, the pitch angle is used as a control cost u2, the square of the control cost u2 is used as an interval of each control period t, and fixed integral calculation is carried out in a preset time period to obtain +.>
Inputting a third group of PI/PID parameters k3 into a rotating speed-pitch loop control loop, performing load simulation calculation of the wind generating set by using the parameters k3, performing calculation within a preset time, taking the difference between the actual generator rotating speed and the rated generator rotating speed as a control deviation e3 after the calculation is finished, and performing fixed integration calculation on the square of the control deviation e3 with each control period t as an interval to obtainMeanwhile, the pitch angle is used as a control cost u, the square of the control cost u is used as an interval of each control period t, and fixed integral calculation is carried out in a preset time period to obtain +.>
And respectively obtaining the relation between the control deviation e and the control cost u corresponding to each group of control parameters, and selecting the final control parameters with the minimum control deviation and the minimum control cost.
3. The method for evaluating control performance of a wind turbine generator system according to claim 2, wherein the preset time is 10 to 20 minutes.
4. The method for evaluating control performance of a wind generating set according to claim 1, wherein the load of the wind generating set is calculated in a simulation manner by adopting a phyllin theory or by using 5-10 modes of a tower.
5. Method for evaluation of control performance of a wind park according to claim 1, wherein the evaluation is based on a rotational speed-torque control loop or on a blade root load-pitch control loop.
6. A system for evaluating control performance of a wind generating set, which is characterized by being used for realizing the method of any one of claims 1-5, and comprising a control target selection module, a simulation calculation module and an evaluation judgment module;
the control target selection module is used for confirming a control target;
the simulation calculation module is used for setting a control gain k of the control target, performing simulation calculation on the load of the wind generating set by using the control gain k, taking the difference between the actual generator rotating speed and the rated generator rotating speed as a control deviation e, squaring the control deviation e with each control period T as an interval, and performing fixed integration in a T time period to obtainMeanwhile, the pitch angle is used as a control cost u, the square of the control cost u is calculated by taking each control period T as an interval and taking T as a time period to obtainAnd get->Performing multiple groups of simulation calculation and simulation to obtain control performance P corresponding to different control parameters;
the evaluation judging module is used for comparing the control deviation index and the control cost index under different control gains, obtaining a lower control deviation index by using the lower control cost index as a judging reference, and selecting the control gain as the control gain which is better under the current control target.
7. A computer device comprising a processor and a memory, the memory being configured to store a computer executable program, the processor reading part or all of the computer executable program from the memory and executing the computer executable program, the processor executing the part or all of the computer executable program implementing the method for evaluating control performance of a wind turbine generator set according to any one of claims 1 to 5.
8. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, enables the method for evaluating the control performance of a wind turbine generator set according to any one of claims 1 to 5.
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